CN103253248A - Aiding hill starting method based on anti-lock braking system (ABS) and system using same - Google Patents
Aiding hill starting method based on anti-lock braking system (ABS) and system using same Download PDFInfo
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- CN103253248A CN103253248A CN2013101805376A CN201310180537A CN103253248A CN 103253248 A CN103253248 A CN 103253248A CN 2013101805376 A CN2013101805376 A CN 2013101805376A CN 201310180537 A CN201310180537 A CN 201310180537A CN 103253248 A CN103253248 A CN 103253248A
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Abstract
The invention discloses an aiding hill starting method based on an anti-lock braking system (ABS) and an aiding hill starting system using the method. The method comprises a step of judging the launching of aiding hill starting, wherein the situation that a vehicle can be in an aiding hill starting launching state is confirmed, a step of aiding hill braking, wherein a pressure maintaining process is carried out on a brake air chamber, and a step of aiding the hill starting, wherein an ABS pressure reducing signal is sent to reduce the pressure in the brake air chamber to zero, and a clutch is completely combined. The system can judge that the vehicle is located in the flat ground or the slope by obtaining vehicle velocity, acceleration, tap position or foot braking information, the aiding hill starting system is automatically started to control the hill starting according to a judgment result, a driver does not need to manually operate, unnecessary backward sliding times can be reduced, and unnecessary accidents are avoided.
Description
Technical field
The invention belongs to the automobile brake technical field, particularly a kind of auxiliary ramp starting system and method based on the ABS system.
Background technology
ABS system (Anti-lock Braking System) is an electronic system that monitors and control car speed during braking.Its task is to prevent because the excessive wheel lockup that causes of braking force (especially adhering on the road surface low), even thereby make full application of brake also can keep side force, to guarantee the optimum efficiency of driving stability and the controlled and main trailer braking protection valve harmony of Vehicular turn.The ABS system works by the conventional brake system, can improve the active safety of vehicle.
At present, the uphill starting method is mainly divided manually and automatic two kinds.Manually uphill starting needs chaufeur to have skilled throttle, power-transfer clutch and brake compounding technique, comes smooth and easy starting and guarantees that vehicle does not slide backward, and this uphill starting method is higher relatively to the requirement of chaufeur, if misoperation is caused danger easily; Automatically uphill starting is to realize the automatic control that car ramp starting braking produces and removes by electronic control mode, it is upward slope, descending or level land that but present automatic uphill starting can't be identified the vehicle present position automatically, so need the chaufeur manual trigger switch to realize automatic uphill starting.
Summary of the invention
Technical matters to be solved by this invention is that providing a kind of at above-mentioned deficiency of the prior art realizes the method that auxiliary ramp starts to walk based on the ABS system, and it is reasonable in design, cost is low, simple to operate, intelligent degree height, can effectively address the above problem.
According to an aspect of the present invention, the invention provides a kind of method that starts to walk based on the auxiliary ramp of ABS system, described method comprises:
Auxiliary ramp starting starts determining step, and wherein, determining that vehicle is in can carry out auxiliary ramp starting starting state;
Auxiliary ramp braking step wherein, makes the compressed air brake cylinder pressurize;
Auxiliary ramp starting step wherein, sends the ABS depression signal and makes compressed air brake cylinder be decompressed to zero, and make the complete combination of power-transfer clutch.
Described auxiliary ramp starting starts determining step and comprises: auxiliary ramp starting control unit is gathered speed information, grade information, gear information and braking information;
Determine according to the information that collects that vehicle is in and to carry out auxiliary ramp starting starting state.
Determine according to the information that collects that vehicle is in and to carry out auxiliary ramp starting starting state, comprise: only satisfy that speed information is zero, grade information greater than gradient threshold value, braking information effectively and gear information when being non-neutral, judging that vehicle is in can carry out auxiliary ramp starting starting state.
Described gradient threshold value is 0.435 degree.
Make compressed air brake cylinder be decompressed to zero according to sending the ABS depression signal, comprising:
According to the decompression rate of the described compressed air brake cylinders of Signal Regulation such as detected throttle signal, driving engine and input shaft rotating speed difference, until being decompressed to zero.
In addition, according to a further aspect in the invention, provide a kind of use this method based on based on the auxiliary ramp of ABS system starting system, described system comprises: auxiliary ramp starting control unit, ABS control unit and compressed air brake cylinder,
Wherein, described auxiliary ramp starting control unit is determined that vehicle is in and can be carried out auxiliary ramp starting starting state;
The pressure control command that described ABS control unit sends according to the described auxiliary ramp starting control unit that receives is controlled the increase and decrease of described compressed air brake cylinder and is pressed;
The combination back is to the complete release command of described ABS control unit transmission ABS fully detecting power-transfer clutch for described auxiliary ramp starting control unit, and the pressure relief control command realizes vehicle start.
Described auxiliary ramp starting control unit is by the speed of a motor vehicle, acceleration/accel, gear and the foot brake information of CAN bus collection vehicle, and calculate the current gradient of vehicle according to acceleration information, and, only satisfy that speed information is zero, grade information greater than gradient threshold value, braking information effectively and gear information when being non-neutral, judging that vehicle is in can carry out auxiliary ramp starting starting state.
Preferably, described gradient threshold value is 0.435 degree.
Described system also comprises ABS solenoid regulated valve and auxiliary ramp starting control cock, and wherein, described auxiliary ramp starting control unit is realized auxiliary ramp starting braking by auxiliary ramp starting electromagnetic valve and ABS solenoid regulated valve.
Preferably, by described ABS control unit the control of described ABS solenoid regulated valve is realized the releasing of auxiliary ramp starting braking.
Compared with prior art, adopt the method for above-mentioned auxiliary ramp starting based on the ABS system of the present invention and use the system of this method, have the following advantages:
(1) intelligent degree height can be judged vehicle state of living in automatically and start auxiliary ramp starting system as required automatically.
(2) the auxiliary ramp starting system architecture of the method for the described auxiliary ramp starting of employing is simple, simple to operate, control is accurate, cost is low.
(3) result of use is good, can effectively improve the driveability of vehicle, guarantees the fast starting of vehicle.
(4) vehicle start is made judged accurately and control by obtaining information such as driving engine, power-transfer clutch, Das Gaspedal, improved vehicle safety, reduce the requirement to chaufeur.
(5) can avoid vehicle unnecessary sliding backward behind uphill starting, avoid unnecessary accident to take place, improve the safety of car load.
(6) range of use is wide, can be applicable to the vehicle of the various ABS of being equipped with system.
Other features and advantages of the present invention will be set forth in the following description, and, partly from specification sheets, become apparent, perhaps understand by implementing the present invention.Purpose of the present invention and other advantages can realize and obtain by specifically noted structure in specification sheets, claims and accompanying drawing.
Description of drawings
Fig. 1 is the constructional drawing of the auxiliary ramp starting system based on the ABS system of the present invention.
Fig. 2 is the method step figure that starts to walk based on the auxiliary ramp of ABS system of the present invention.
Fig. 3 is the detail flowchart of the method for the auxiliary ramp starting based on the ABS system of the present invention.
(description of reference numerals)
The 1-car speed sensor; The 2-compressed air brake cylinder; The 3-ABS control unit; The 4-ABS solenoid regulated valve; 5-auxiliary ramp starting control unit; The 6-brake activation valve; The 7-air receiver; The 8-clutch position sensor; The 9-acceleration pick-up; 10-auxiliary ramp starting electromagnetic valve; The 11-dual way check valve.
The specific embodiment
Below in conjunction with accompanying drawing to invention based on the method for the auxiliary ramp of ABS system starting and use the system of this method to describe in detail.
Method of the present invention is combined in the concrete total system, and in the present invention, this system is for using the auxiliary ramp starting system of described auxiliary ramp method for starting, and the structural representation of this system as shown in Figure 1.In Fig. 1, the line that twines together represents circuit each other, and the straight line of black represents gas circuit.
With reference to Fig. 1, the composition of described auxiliary ramp starting system on gas circuit comprises: compressed air brake cylinder 2, ABS solenoid regulated valve 4, dual way check valve 11, brake activation valve 6, air receiver 7 and auxiliary ramp starting electromagnetic valve 10, wherein, described ABS solenoid regulated valve 4 is in order to adjust each wheel braking force of being controlled vehicle.
In described system in the gas circuit, one end of described ABS solenoid regulated valve 4 is communicated with the air extractor duct of dual way check valve 11, the compressed air brake cylinder 2 of the other end and each wheel joins, described auxiliary ramp starting electromagnetic valve 10 1 ends are communicated with an air receiver 7, an admission port of the other end and dual way check valve 11 joins, described brake activation valve 6 is by the control of the brake pedal of chaufeur, and an end is communicated with an air receiver 7, and another admission port of the other end and dual way check valve 11 joins.
The composition of described auxiliary ramp starting system on circuit comprises: ABS control unit 3, auxiliary ramp starting control unit 5, car speed sensor 1, acceleration pick-up 9 and clutch position sensor 8.
Wherein, described car speed sensor 1 is in order to monitor in real time the speed of a motor vehicle of being controlled vehicle, to obtain speed information.
Described auxiliary ramp starting control unit 5 is in order to realize the integral body control to system, and described car speed sensor 1 is in order to monitor in real time the speed of a motor vehicle of being controlled vehicle, to obtain speed information.
Described ABS control unit 3 can be made up of input circuit, digitial controller, output circuit and acknowledge circuit.Its main task in this article is the control command that continuous monitoring auxiliary ramp starting control unit sends when stationary vehicle, when receiving the pressurize order, reducing valve is closed, simultaneously auxiliary ramp is started to walk electromagnetic valve 10 and pressure retaining valve opened simultaneously and realized the compressed air brake cylinder pressurize, even releasing of brake pedal like this, pressure in the brake repair room can not reduce yet, and braking force remains unchanged; After receiving the decompression order, close pressure retaining valve and regulate the speed that the brake repair room internal pressure discharges according to the decompression order control auxiliary ramp starting electromagnetic valve 10 that receives and the break-make of reducing valve simultaneously, close all electromagnetic valves at last.
Electronic control unit should be the control unit that is applied to certain occasion, it comprises the drive system of information acquisition system and some element of control (electromagnetic valve, motor, relay etc.), the electronic control unit that for example is used for the control driving engine, be used for realizing the ABS electronic control unit of ABS, for example adaptable is the abs controller of Wan An, Zhejiang exploitation.The ABS control unit can be opened auxiliary ramp starting electromagnetic valve 10 after the pressurize order that auxiliary ramp starting control unit sends and pressure retaining valve is finished service lap simultaneously if receive when the chaufeur loosen the brake, just do not discharge brake, provide braking force that vehicle is not slipped the back.The ABS control unit can be thought power element; And auxiliary ramp starting control unit determines by gathering various information when the ABS control unit begins pressurize, when discharges, and is control (application) element.
In described system, described ABS control unit 3 links to each other with auxiliary ramp starting control unit 5; Described acceleration pick-up 9 links to each other with auxiliary ramp starting control unit 5; Described clutch position sensor 8 links to each other with auxiliary ramp starting control unit 5.
With reference to Fig. 1, as can be seen, circuit in the auxiliary ramp starting system based on the ABS system of the present invention is connected by ABS control unit 3 with gas circuit, be that ABS solenoid regulated valve 4 in the circuit system and auxiliary ramp starting electromagnetic valve 10 all joins with described ABS control unit 3, and all controlled by described ABS control unit 3.
In addition, in actual mechanical process, described auxiliary ramp starting control unit 5 links to each other with the CAN communication network of being controlled vehicle by the CAN communication bus.Described auxiliary ramp starting control unit 5 can obtain vehicle acceleration information by acceleration pick-up 9, utilize acceleration information to calculate the current gradient of vehicle, also can obtain clutch position information by clutch position sensor 8, can obtain information such as engine speed, engine torque, accelerator open degree by the CAN communication network simultaneously, also can send control command to ABS control unit 3 by the CAN communication network.
Description by above-mentioned described auxiliary ramp starting system, can how the uphill starting of controlled vehicle have been assisted further understanding to the auxiliary ramp starting system based on the ABS system, below will be to being introduced for controlled vehicle being carried out the method that starts auxiliary ramp starting system automatically that this system adopts.
Fig. 2 is the method step figure that starts to walk based on the auxiliary ramp of ABS system of the present invention.Fig. 3 is the detail flowchart of the method for the auxiliary ramp starting based on the ABS system of the present invention.Below in conjunction with Fig. 2 and Fig. 3 the method that starts to walk based on the auxiliary ramp of ABS system of the present invention is described in detail.As shown in Figures 2 and 3, for being applicable to the method for auxiliary ramp starting system based on the ABS system shown in Figure 1, it comprises the steps:
(1) auxiliary ramp starting starts determining step S101, and wherein, determining that vehicle is in can carry out auxiliary ramp starting starting state.
Particularly, can be by auxiliary ramp the start to walk speed of a motor vehicle, acceleration/accel, gear or the foot brake information of control unit 5 collection vehicle.Calculate the current gradient of vehicle according to acceleration information then.Only satisfy that speed information is zero, grade information greater than gradient threshold value, braking information effectively and gear information when being non-neutral, judging just that vehicle is in can carry out auxiliary ramp starting starting state, can carry out auxiliary ramp and start to walk.Otherwise, all parameter resets.
Preferably, described gradient threshold value is 0.435 degree, namely spend on the slope greater than 0.435 when the gradient, and be descending when spending less than-0.435, other is the level land.This value can whether EQUILIBRIUM CALCULATION FOR PROCESS obtains according to gradient resistance and vehicles roll resistance.
Gradient threshold calculations foundation: be that f=0.0076+0.000056ua obtains f=0.0076 when static according to the coefficient of rolling resistance of automobile theory (the surplus will of Tsing-Hua University is given birth to work, the 3rd edition, P10) good road surface truck, when static when going up a slope, the direction of rolling resistance is to slip after hindering vehicle, grade resistance overcome (greater than) during rolling resistance, vehicle just slips after the meeting.So namely as Gsin θ〉during Gf, slip θ=sin behind the vehicle
-1F ≈ 0.435 degree.Wherein, the relation between the current gradient of acceleration information and vehicle can be calculated by the acceleration pick-up that is installed in the vehicle.The inductive axis direction of acceleration pick-up is parallel with the longitudinal direction of car direction.When vehicle when level road is static, gravity acceleration g is 0 at the component (acceleration pick-up output just) of longitudinal direction of car direction.When vehicle was static in the ramp, gravity acceleration g was not 0 at the component (acceleration pick-up output just) of longitudinal direction of car direction, for G*Sin θ, when vehicle is in the level land, is output as 0; When vehicle is in upward slope, be output as G*Sin θ, when vehicle is in descending, be output as-G*Sin θ.
(2) auxiliary ramp braking step S102 wherein, makes the compressed air brake cylinder pressurize.
When judge vehicle be in can carry out auxiliary ramp starting starting state after, described auxiliary ramp starting control unit 5 can be by the CAN communication network to sending compressed air brake cylinder pressurize order to ABS control unit 3, it is the exhaust that the ABS control unit is turned off compressed air brake cylinder, the air pressure of keeping in the compressed air brake cylinder is constant, realizes pressurize.Utilize this moment auxiliary ramp starting electromagnetic valve 10 and ABS solenoid regulated valve 4 to make and after unclamping foot brake pedal, do not discharged by the braking force of the driving wheel of auxiliary ramp starting electromagnetic valve 10 controls, thereby realize auxiliary ramp starting braking.
(3) auxiliary ramp starting step S103 wherein, sends the ABS depression signal and makes compressed air brake cylinder be decompressed to zero, makes the complete combination of power-transfer clutch.
In this step, whether auxiliary ramp starting control unit 5 detects chaufeur by throttle signal the starting intention, and if had in conjunction with power-transfer clutch to the semi-linkage point.If the throttle signal that detects shows throttle and strengthens, can judge that then chaufeur has the starting intention, this moment can be by transmission signal combination power-transfer clutch to the semi-linkage point.
Then, send the ABS depression signal to described ABS control unit 3 more than 5 time by auxiliary ramp starting control unit described ABS solenoid regulated valve 4 is controlled, will progressively have been discharged by the air pressure of each wheel braking air chamber of control vehicle several times.Several times a plurality of described ABS solenoid regulated valves 4 are being carried out in the control process, be according to regulated braking releasing speed by parameters such as control vehicle accelerator aperture and driving engine and input shaft rotating speed differences.
At last, judge whether fully combination of power-transfer clutch, if the complete combination of power-transfer clutch then sends the complete release command of ABS, remove the control to auxiliary ramp starting electromagnetic valve 10 and ABS solenoid regulated valve 4, normal operation is recovered by the ABS system, and braking is removed, vehicle start.
By said method and be used in combination this method based on the auxiliary ramp of ABS system starting system, can judge automatically that vehicle is in that the slope is gone up in conjunction with acceleration pick-up, under the slope or level land, thereby can start auxiliary ramp starting system as required automatically controls vehicle, be on the slope at vehicle, up and car speed be can initiatively keep brake under 0 the situation, need not artificial participation, intelligent degree height can reduce potential safety hazard simultaneously.
Claims (10)
1. the method based on the auxiliary ramp starting of ABS system is characterized in that, may further comprise the steps:
Auxiliary ramp starting starts determining step, and wherein, determining that vehicle is in can carry out auxiliary ramp starting starting state;
Auxiliary ramp braking step wherein, makes the compressed air brake cylinder pressurize;
Auxiliary ramp starting step wherein, sends the ABS depression signal and makes compressed air brake cylinder be decompressed to zero, and make the complete combination of power-transfer clutch.
2. the method that starts to walk based on the auxiliary ramp of ABS system according to claim 1 is characterized in that, described auxiliary ramp starting starts determining step and comprises:
Auxiliary ramp starting control unit is gathered speed information, grade information, gear information and braking information;
Determine according to the information that collects that vehicle is in and to carry out auxiliary ramp starting starting state.
3. the method for the auxiliary ramp starting based on the ABS system according to claim 2, it is characterized in that, determine according to the information that collects that vehicle is in and to carry out auxiliary ramp starting starting state, comprise: only satisfy that speed information is zero, grade information greater than gradient threshold value, braking information effectively and gear information when being non-neutral, judging that vehicle is in can carry out auxiliary ramp starting starting state.
4. the method that starts to walk based on the auxiliary ramp of ABS system according to claim 3 is characterized in that, described gradient threshold value is 0.435 degree.
5. according to the described method that starts to walk based on the auxiliary ramp of ABS system of arbitrary claim in the claim 1 to 4, it is characterized in that, make compressed air brake cylinder be decompressed to zero according to sending the ABS depression signal, comprising:
According to the decompression rate of the described compressed air brake cylinders of Signal Regulation such as detected throttle signal, driving engine and input shaft rotating speed difference, until being decompressed to zero.
6. the auxiliary ramp starting system based on the ABS system is characterized in that, comprising: auxiliary ramp starting control unit, ABS control unit and compressed air brake cylinder,
Wherein, described auxiliary ramp starting control unit is determined that vehicle is in and can be carried out auxiliary ramp starting starting state;
The pressure control command that described ABS control unit sends according to the described auxiliary ramp starting control unit that receives is controlled guarantor's decompression of described compressed air brake cylinder;
The combination back is to the complete release command of described ABS control unit transmission ABS fully detecting power-transfer clutch for described auxiliary ramp starting control unit, and the pressure relief control command realizes vehicle start.
7. the auxiliary ramp starting system based on the ABS system according to claim 6, it is characterized in that, described auxiliary ramp starting control unit is by the speed of a motor vehicle, acceleration/accel, gear and the foot brake information of CAN bus collection vehicle, and calculate the current gradient of vehicle according to acceleration information, and, only satisfy that speed information is zero, grade information greater than gradient threshold value, braking information effectively and gear information when being non-neutral, judging that vehicle is in can carry out auxiliary ramp starting starting state.
8. the auxiliary ramp starting system based on the ABS system according to claim 7 is characterized in that described gradient threshold value is 0.435 degree.
9. the auxiliary ramp starting system based on the ABS system according to claim 6, it is characterized in that, also comprise ABS solenoid regulated valve and auxiliary ramp starting control cock, wherein, described auxiliary ramp starting control unit is realized auxiliary ramp starting braking by auxiliary ramp starting electromagnetic valve and ABS solenoid regulated valve.
10. the auxiliary ramp starting system based on the ABS system according to claim 9 is characterized in that, the control of described ABS solenoid regulated valve is realized the releasing of auxiliary ramp starting braking by described ABS control unit.
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| CN201310180537.6A CN103253248B (en) | 2013-05-16 | 2013-05-16 | Based on the method for the assisting in hill start of ABS system and the system of use the method |
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| CN201310180537.6A CN103253248B (en) | 2013-05-16 | 2013-05-16 | Based on the method for the assisting in hill start of ABS system and the system of use the method |
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Cited By (7)
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| CN105465229A (en) * | 2014-07-10 | 2016-04-06 | 比亚迪股份有限公司 | Method and device for controlling flat ground starting of vehicle and vehicle |
| CN105835862A (en) * | 2016-03-28 | 2016-08-10 | 广东戈兰玛汽车系统有限公司 | Control method, device and system for preventing vehicle from ramp sliding |
| CN106853829A (en) * | 2015-12-09 | 2017-06-16 | 现代自动车株式会社 | For the uphill starting auxiliary control method and system of vehicle |
| CN106945665A (en) * | 2017-03-07 | 2017-07-14 | 广东轻工职业技术学院 | A kind of car ramp starting anti-slip control method and control system |
| CN109552331A (en) * | 2018-12-28 | 2019-04-02 | 重庆长安汽车股份有限公司 | A kind of vehicle start householder method and system |
| CN109941243A (en) * | 2017-12-20 | 2019-06-28 | 郑州宇通客车股份有限公司 | Vehicle automatic parking and uphill starting auxiliary system and its control method |
| CN114901527A (en) * | 2019-12-10 | 2022-08-12 | 奔迪士商业运输系统公司 | Parking brake device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105465229A (en) * | 2014-07-10 | 2016-04-06 | 比亚迪股份有限公司 | Method and device for controlling flat ground starting of vehicle and vehicle |
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| CN106945665B (en) * | 2017-03-07 | 2018-03-13 | 广东轻工职业技术学院 | A kind of car ramp starting anti-slip control method and control system |
| CN109941243A (en) * | 2017-12-20 | 2019-06-28 | 郑州宇通客车股份有限公司 | Vehicle automatic parking and uphill starting auxiliary system and its control method |
| CN109552331A (en) * | 2018-12-28 | 2019-04-02 | 重庆长安汽车股份有限公司 | A kind of vehicle start householder method and system |
| CN109552331B (en) * | 2018-12-28 | 2020-09-08 | 重庆长安汽车股份有限公司 | Vehicle starting assisting method and system |
| CN114901527A (en) * | 2019-12-10 | 2022-08-12 | 奔迪士商业运输系统公司 | Parking brake device |
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